/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "i2c.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
 
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "oled.h"
#include "delay.h"
#include "imu901.h"
#include "motor42.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
#define BUFSIZE 64
/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
float Roll,Pitch,Yaw;
uint8_t mode=0;

uint8_t RxBuf[BUFSIZE]={0},RxByte;
uint8_t RxCnt=0;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
	if(huart==&huart1)
	{
		RxBuf[RxCnt]=RxByte;
		RxCnt++;
		HAL_UART_Receive_IT(&huart1,&RxByte,1);
	}
}

void UART_IDLECallBack(UART_HandleTypeDef *huart)
{
	if(huart==&huart1)
	{
		if(__HAL_UART_GET_FLAG(&huart1,UART_FLAG_IDLE)!=RESET)  // IDLE interrupt happened
		{
			__HAL_UART_CLEAR_IDLEFLAG(&huart1);
			
			//TODO
			if(RxBuf[0]==0x55&&RxBuf[1]==0x55&&RxBuf[2]==0x01&&RxBuf[3]==0x06) //get attitude angle
			{
				uint8_t RollL,RollH,PitchL,PitchH,YawL,YawH;

				
				RollL=RxBuf[4];
				RollH=RxBuf[5];
				PitchL=RxBuf[6];
				PitchH=RxBuf[7];
				YawL=RxBuf[8];
				YawH=RxBuf[9];
				
				Roll  = (float)((int16_t)(RollH<<8)|RollL)/32768*180;
				Pitch = (float)((int16_t)(PitchH<<8)|PitchL)/32768*180;
				Yaw   = (float)((int16_t)(YawH<<8)|YawL)/32768*180;
				
				
			}
			
			//clear buffer
			RxCnt=0;
			for(uint16_t i=0;i<BUFSIZE;i++)
			{
				RxBuf[i]=0;
			}
		}
	}
}
/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_I2C1_Init();
  MX_USART1_UART_Init();
  MX_TIM1_Init();
  MX_TIM11_Init();
  /* USER CODE BEGIN 2 */
	__HAL_UART_ENABLE_IT(&huart1, UART_IT_RXNE);
	__HAL_UART_ENABLE_IT(&huart1, UART_IT_IDLE);
	HAL_TIM_Base_Start_IT(&htim1);
	HAL_TIM_Base_Start(&htim11);
	HAL_UART_Receive_IT(&huart1,&RxByte,1);
	
	OLED_Init();
	imu901_init();
	Motor_Init();
	
	
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
	
	OLED_ShowString(0,0,"theta:",16);
//	OLED_ShowString(0,2,"mode:",16);
//	OLED_ShowNum(64,2,mode,1,16);
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
		//Motor_Send_One_Pulse(0);
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE2);
  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 16;
  RCC_OscInitStruct.PLL.PLLN = 192;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV4;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
